Setting up wireless on a printer with preloaded drivers in 10.9.1

I'm trying to connect an HP Deskjet 3050 J610 printer to my wireless network. It's an older model so the CD that came with it is not compatible with OS X 10.9.1, but the printer driver is already loaded in the operating system. So I'm able to print using the USB cable but when I try to connect with my Belkin router via WPS the printer won't connect because it has a pre-assigned SSID. I'm unable to find any configuration program on the computer that would allow me to change the SSID on the printer manually. So far HP has been no help so I'm hoping the Apple community might have a few more answers.